Using NAOqi 2.4.2 Python SDK on Mac OS X El Capitan

Apparently Mac OS X El Capitan can't use the NAOqi Python SDK due to a new security feature called System Integrity Protection (SIP).

If you get an error like this, it's due to the security features provided by SIP.

>>> import naoqi
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/Users/tkawata/naoqi/pynaoqi-python2.7-2.4.2.26-mac64/naoqi.py", line 9, in <module>
    import qi
  File "/Users/tkawata/naoqi/pynaoqi-python2.7-2.4.2.26-mac64/qi/__init__.py", line 66, in <module>
    from _qi import Application as _Application
ImportError: dlopen(/Users/tkawata/naoqi/pynaoqi-python2.7-2.4.2.26-mac64/_qi.so, 2): Library not loaded: libboost_python.dylib
  Referenced from: /Users/tkawata/naoqi/pynaoqi-python2.7-2.4.2.26-mac64/_qi.so
  Reason: unsafe use of relative rpath libboost_python.dylib in /Users/tkawata/naoqi/pynaoqi-python2.7-2.4.2.26-mac64/_qi.so with restricted binary
>>> 

There seems to be a problem with how the library referenced by the SDK is referenced, and I have to wait for the SDK to be officially fixed. (Each NAOqi 2.4.2 SDK is currently supported by Yosemite on Mac)

It's a temporary response, but I made a script to apply the patch.

patch_naoqi_python_sdk_for_elcaptain.sh

#!/bin/bash

if [ $# -ne 1 ]; then
  echo "Parameter error" 1>&2
  echo "sh patch_naoqi_python_sdk_for_elcaptain.sh  naoqi_python_sdk path" 
  exit 1
fi

NAOQIDIR=$1 # "${HOME}/naoqi/pynaoqi-python2.7-2.4.2.26-mac64"

if [ ! -e ${NAOQIDIR}/naoqi.py ]; then
	echo "The specified path doesn't seem to be the naoqi python SDK"
	exit 1
fi

cd ${NAOQIDIR}

for file in `ls *.dylib *.so`
do
	# patch all library internal cross references
	echo "Patching " $file "..."
	for fileother in `ls  *.dylib *.so ;ls qi *.dylib *.so`
	do
		# library
		echo "  Patching " $fileother " with " $file "..."
		install_name_tool  -change $file $NAOQIDIR/$file $fileother
	done
	# patch Python reference for the library
	install_name_tool -change /Library/Frameworks/Python.framework/Versions/2.7/Python /System/Library/Frameworks/Python.framework/Versions/2.7/Python $file
done

for file in `ls *.dylib *.so`
do
	# patch all library internal cross references
	echo "Patching " $file "..."
	fileother="qi/plugins/libqimodule_python_plugin.dylib"
	# library
	echo "  Patching " $fileother " with " $file "..."
	install_name_tool -change $file $NAOQIDIR/$file $fileother
	# patch Python reference for the library
	install_name_tool -change /Library/Frameworks/Python.framework/Versions/2.7/Python /System/Library/Frameworks/Python.framework/Versions/2.7/Python $file
done

Specify the path of NAOqi SDK in the parameter

sh patch_naoqi_python_sdk_for_elcaptain.sh Python NAOqi SDK path